CommandFunctors.hpp
Go to the documentation of this file.00001 /*************************************************************************** 00002 tag: FMTC do nov 2 13:06:11 CET 2006 CommandFunctors.hpp 00003 00004 CommandFunctors.hpp - description 00005 ------------------- 00006 begin : do november 02 2006 00007 copyright : (C) 2006 FMTC 00008 email : peter.soetens@fmtc.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 00039 #ifndef ORO_COMMANDFUNCTORS_HPP 00040 #define ORO_COMMANDFUNCTORS_HPP 00041 00042 #include <boost/bind.hpp> 00043 #include <boost/function.hpp> 00044 #include <boost/type_traits/function_traits.hpp> 00045 00046 #include "../base/ActionInterface.hpp" 00047 #include "ConditionInterface.hpp" 00048 00049 namespace RTT 00050 { 00051 namespace scripting { 00052 00057 class CommandFunction 00058 :public base::ActionInterface 00059 { 00060 public: 00061 typedef boost::function<bool(void)> Function; 00062 00063 Function com; 00064 00068 CommandFunction(Function impl) 00069 : com(impl) 00070 { 00071 } 00072 00073 virtual void readArguments() { } 00074 00075 virtual bool execute() { return com(); } 00076 00077 virtual CommandFunction* clone() const 00078 { 00079 return new CommandFunction( com ); 00080 } 00081 }; 00082 00087 class ConditionFunction 00088 :public ConditionInterface 00089 { 00090 public: 00091 typedef boost::function<bool(void)> Function; 00092 00093 Function con; 00094 bool minvert; 00095 00099 ConditionFunction(Function impl, bool invert=false) 00100 : con(impl), minvert(invert) 00101 { 00102 } 00103 00104 virtual bool evaluate() { return con() != minvert; } 00105 00106 virtual ConditionFunction* clone() const 00107 { 00108 return new ConditionFunction( con, minvert ); 00109 } 00110 }; 00111 } 00112 } 00113 00114 #endif